Rectilinear Kinematics: Erratic Motion

General Curvilinear Motion

• Curvilinear motion occurs when a particle moves along a curved path.
• Since this path is often described in three dimensions, vector analysis will be used to formulate the particle’s
position, velocity, and acceleration.

Position.
• The position of the particle, measured from a fixed point O, will be designated by the position vector
r = r(t). Notice that both the magnitude and direction of this vector will change as the particle moves along the
curve.
 General Curvilinear Motion
Displacement.

The displacement ∆r represents the change in the particle’s position and is determined by vector subtraction;

Velocity.

The instantaneous velocity is determined from this equation

by letting ∆t→0, and consequently the direction of ∆r approaches
the tangent to the curve.
 General Curvilinear Motion
Thus, the speed can be obtained by differentiating the path function s with respect to time.

Acceleration

In summary, v is always tangent to the path

and a is always tangent to the hodograph.
 Curvilinear Motion: Rectangular Components
Occasionally the motion of a particle can best be described along a path that can be expressed in terms of its x,
y, z coordinates.

Position. If the particle is at point (x, y, z) on the curved path s, then its location is defined by the position
vector.

When the particle moves, the x, y, z components of r will be functions of time; i.e., x = x(t), y = y(t), z = z(t), so
that r = r(t).
At any instant the magnitude of r is defined as

And the direction of r is specified by the unit vector ur = r/r.

 Curvilinear Motion: Rectangular Components
Velocity.

When taking this derivative, it is necessary to account for changes in both the magnitude and direction of each
of the vector’s components. For example, the derivative of the i component of r is

The second term on the right side is zero, provided the x, y, z reference frame is fixed, and therefore the
direction (and the magnitude) of i does not change with time.
Differentiation of the j and k components may be carried out in a similar manner, which yields the final result,

The velocity has a magnitude that is found from

Direction is specified by the unit vector

and direction is always tangent to the path.
 Curvilinear Motion: Rectangular Components
Acceleration.

Magnitude of a:

Direction of a:

a will not be tangent to the path.

Curvilinear Motion: Rectangular Components
 Motion of a Projectile
• Air resistance is neglected, the only force acting on the projectile is its weight, which causes the projectile to
have a constant downward acceleration
 Motion of a Projectile
Horizontal Motion. Since ax = 0, application of the constant acceleration equations.

The first and last equations indicate that the horizontal component of velocity always remains constant during
the motion.
Vertical Motion. Since the positive y axis is directed upward, then ay = -g.
 Motion of a Projectile
.
 Curvilinear Motion: Normal and Tangential Components

When the path along which a particle travels is known, then it is often convenient to describe the motion using n and t
coordinate axes which act normal and tangent to the path, respectively, and at the instant considered have their origin located
at the particle.
Planar Motion.
• A coordinate system is considered that has its origin on the curve, and at the instant considered this origin happens to
coincide with the location of the particle
• The t axis is tangent to the curve at the point and is positive in the direction of increasing s. This positive direction is
designated with the unit vector ut
• A unique choice for the normal axis can be made by noting that geometrically the curve is constructed from a series of
differential arc segments ds
• This positive direction, which is always on the concave side of the curve, will be designated by the unit vector un

Radius of curvature = ρ (rho)

 Curvilinear Motion: Normal and Tangential Components

Velocity:
 Curvilinear Motion: Normal and Tangential Components

Acceleration: